Development of a Flexible Platform for Real-time Hybrid Simulation

1. Quake Summit 2012 July 9-12, 2012 OyaMercan, Ph.D Assistant Professor, University of Toronto Development of a Flexible Platformfor Real-time Hybrid Simulation

2. Computational/Control Platform NI PXI 1042 with a built-in NI PXI 8110 controller (deterministic, fast, CPU running RT with a built in clock) Field Programmable Gate Array, FPGA (high reliability, high determinism, true Parallelism, & re-configurability) SCB-68 (Break-Out-Box) (68 screw terminals for I/O signal conditioning) NI 5191 expansion chassis • NI 9237, Load Cell Module • NI 9239, LVDT Module • NI 9481, Relay Module

3. Computational/Control Platform

4. Experimental Setup

5. Software Development PXI- Real time State Machine Based with 7 States FPGA • Safe start-up • Emergency/ regular shutdown • Command generation: either predefined or using an integration algorithm • Data logging and observation • State determination of the analytical substructure • Interface with the I/O modules to receive and • issue analog and • digital signals. • Limit checks • Data transfer • Control law • Dither injection FIFO DMA NI LabVIEW synchronization NI LabVIEW MATLAB Simulink NI LabVIEW

6. Software Development LabVIEW VI for Tuning the PID Controller for a Single Actuator (Front Panel)

7. Software Development Initialization State Open up FPGA Write the user defined values for calibration , constants PID gains, limits etc. on the FPGA Enable/Disable buttons on the front panel Go to “Start up” state Write “False” to HSM Stop and Next buttons

8. Software Development Start-up State Wait for the user to turn HSM on If Next button is hit  go to “Pre Zero” state If Stop button is hit  go to “Stop” state Disable PID gains and filename

9. Software Development Pre Zero State

10. Software Development Zero State Impose user-defined displacements Check if the limits, next or stop buttons have been hit, decide the next state

11. Software Development Pre Run State Clear FIFO Memory Open up the predefined displacement file Depending on whether the displacement file makes sense, decide the next state

12. Software Development Impose predefined displacements within the timed loop Run State Either finish or abort the test and go to Startup Write data to file

13. Software Development Stop State Immediately turn the HSM high pressure off Wait 5 seconds and turn off the low pressure and HSM completely

14. Software Development FPGA VI The relay channels in NI 9481 are being turned on/off depending on the user input Acquire restoring force data from NI 9237, perform limit check Limit check measured displacement Dither injection Electrical command to the servo valve command displacement PID Write data to the FIFO

15. Verification Tests To verify the developed software, hardware configuration, data transfer, as well as the PID tuning and tracking performance of the proposed system several predefined displacement histories were applied.

16. Real-time Hybrid Simulation Pre Run State Real-time hybrid simulation considering one experimental substructure

17. Real-time Hybrid Simulation Pre Run State – 1DOF Hybrid Simulation Information about the dll file that contains the Integration algorithm and analytical substructure is extracted and made available to the other states Depending on whether there is an error in the decide the next state model dll file

18. Real-time Hybrid Simulation Simulink model subsystem to be converted to model dll using Simulation interface toolkit

19. Real-time Hybrid Simulation Analytical substructure

20. Real-time Hybrid Simulation Analytical substructure Integration Algorithm

21. Real-time Hybrid Simulation Analytical substructure Integration Algorithm

22. Real-time Hybrid Simulation Pre Run State – 1DOF Hybrid Simulation Information about the dll file that contains the Integration algorithm and analytical substructure is extracted and made available to the other states model dll file Depending on whether there is an error in the decide the next state

23. Real-time Hybrid Simulation Error notification, let the user decide what to do next.

24. Real-time Hybrid Simulation Run State – 1DOF Hybrid Simulation

25. Current & Future Work • Software modification to control two actuators simultaneously with and without physical coupling. • Replacing PID control with other control laws. • Control of larger scale actuators (with three stage servo-valves) with the NI computational/control platform.

26. Acknowledgements • NSERC Discovery (Grant 371627-2009) • NSERC RTI (Grant 374707-2009 EQPEQ) • Start-up funds from University of Alberta and University of Toronto

27. Thank you! Questions ?

28. Real-time Hybrid Simulation

29. Experimental Setup Mechanical Components Hydraulic power supply 3000 psi (pressurized oil) Hydraulic service manifold 120 gpm (continuous flow) 2-Stage electro servo-valves 16.5 gpm (flow capacity) Hydraulic dynamic actuators ±7,5 kips (force) & ±5 inch (stroke) Built-in AC LVDT ±5 inch (stroke) Fatigue rated load cell ±12,500 kips (load capacity)